// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include <stdint.h>
#include <stdio.h>
#include <strings.h>
#include <stdlib.h>
#include <string.h>

#define STX 0x02
#define ETX 0x03

#define DrivePort       0
#define DriveStarboard  1
#define VerticleFore    2
#define VerticleAft     3
#define HorizontalFore  4
#define HorizontalAft   5

using namespace std;

#include "auv_motor_driver/motor_driver.h"

motor_driver::motor_driver()
{
}

int motor_driver::setMotorSpeed( int8_t drivePort,         int8_t driveStarboard,
                                      int8_t verticleFore,      int8_t verticleAft,
                                      int8_t horizontalFore,    int8_t horizontalAft,
                                      uint8_t **currentSense,   uint16_t *errorCodes)

{
    int8_t PWM[6] = { drivePort, driveStarboard, verticleFore, verticleAft, horizontalFore, horizontalAft };
    return setMotorSpeed((int8_t *)PWM, (uint8_t**)currentSense, (uint16_t *)errorCodes );
}

int motor_driver::setMotorSpeed( int8_t *PWM, uint8_t **currentSense,   uint16_t *errorCodes)
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x23;
    packet->flags = 0x00;
    packet->length = 0x06;
    packet->data = (uint8_t *)PWM;
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL) 
    	return -1;
    // error checking
    *currentSense = (uint8_t *)malloc(7);
    memcpy(*currentSense, packet->data, 7);
    
    *errorCodes = *(uint16_t *)(packet->data+7);
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int motor_driver::performSelfTest()
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x24;
    packet->flags = 0x00;
    packet->length = 0x00;
    packet->data = NULL;
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL)
    	return -1;
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}

int motor_driver::getSelfTestResults(uint8_t *HBridgeConnectivityBitMask, uint8_t *motorConnectivityBitMask, uint16_t *selfTestRuns,
                                          uint16_t **zeroPoints, int16_t **currentSense)
{
    ICDpacket *packet = new ICDpacket;
    
    packet->type = 0x25;
    packet->flags = 0x00;
    packet->length = 0x00;
    packet->data = NULL;
    
    sendICDpacket(packet);
    
    delete packet;
    
    packet = recieveICDpacket();
    if (packet == NULL) 
    	return -1;
    // error checking
    *HBridgeConnectivityBitMask = *(uint8_t *)(packet->data);
    *motorConnectivityBitMask = *(uint8_t *)(packet->data+1);
    *selfTestRuns = *(uint16_t *)(packet->data+2);
    
    *zeroPoints = (uint16_t *)malloc(12);
    memcpy(*zeroPoints, packet->data+4, 12);
    
    *currentSense = (int16_t *)malloc(12);
    memcpy(*currentSense, packet->data+16, 12);
    
    free(packet->data);
    
    delete packet;
    
    return 0;
}


